KR102217644B1 - Filter replacement apparatus - Google Patents

Abstract

Disclosed is a filter replacement device capable of replacing a filter in a radiation structure. The filter replacement device comprises: a main body; a multi-joint manipulator provided on one side of the main body and having five degrees of freedom; a tool detachably provided at an end of the manipulator to perform all tasks for replacing the filter in an object; and a socket detachably provided on the tool.

Description

Filter replacement device {FILTER REPLACEMENT APPARATUS}

The following description relates to a filter replacement device for replacing a filter in a facility such as a nuclear reactor.

A nuclear reactor or nuclear reactor is a device that uses the heat generated during nuclear fission for power generation or obtains basic particles of substances such as neutrons and radiation and uses it for pre-scientific research or technology development.It is a device that continuously maintains and controls nuclear fission. Device. Nuclear reactors are mostly used to generate electrical energy and are also used as power for ships.

Such a nuclear reactor is provided with various nuclear power plant radiation structures. Here, the nuclear power plant radiation structure refers to a structure that is radiated by absorbing neutrons in the structure, that is, a structure that exhibits radioactivity, among discarded structures generated when a nuclear reactor is dismantled in operation.

Meanwhile, various filters are provided in the radiation-emitting structure. For example, a reactor coolant filter, a sealed injection water filter, a sealed water bypass filter, a boric acid filter, a spent fuel storage tank purification filter, a boric acid purification filter, and the like may be provided. However, in order to replace the filter, there is a risk of excessive exposure as a worker is exposed to radioactivity generated from radioactive structures and waste filters. In addition, due to the large size of the filter, there is a risk of a safety accident such as a fall of an operator during filter replacement work.

The above-described background technology is possessed or acquired by the inventor in the process of deriving the disclosure content of the present application, and is not necessarily known as a known technology disclosed to the general public before the present application.

An object of the embodiment is to provide a filter replacement device capable of replacing a filter in a radioactive structure.

Problems to be solved in the embodiments are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A filter replacement device according to embodiments will be described.

The filter replacement device is a filter replacement device for replacing a filter in an object including a radiation structure, a main body, an articulated manipulator having 5 degrees of freedom, provided on one side of the main body, and detachably provided at an end of the manipulator. It is configured to include a tool for performing an entire operation for replacing the filter in the object, and a socket detachably provided to the tool.

According to one side, the manipulator is provided at an end of a first arm member among a plurality of arm members, a plurality of movable parts that connect and rotatably connect the plurality of arm members, and the tool The tool mounting portion is coupled, and the tool mounting portion becomes a first movable portion so that the tool is rotatable with respect to the first arm member.

According to one side, the manipulator may further include an FT sensor provided on the first arm member to sense a force and torque applied to the tool mounting portion. In addition, the manipulator may further include a servo motor provided on the first arm member to precisely drive the tool. In addition, the manipulator may further include a reducer provided between the first arm member and the tool mounting portion, and configured to increase torque of the servo motor.

According to one side, the manipulator may further include an imaging unit provided on the first arm member to capture an image for detecting the position of the bolt on the object. A controller for controlling an operation of the manipulator at a remote location, wherein the controller may obtain 3D coordinates of an object from an image captured by the imaging unit and perform calibration for correcting the acquired 3D coordinates.

According to one side, the socket, a socket body in which a tool coupling groove into which the tool is inserted and coupled to one end is formed, a bolt coupling groove into which a bolt is inserted and coupled to the other end is formed, and the other end of the socket body It is formed of, and may include a ring portion having a hook shape coupled to the lid or filter provided on the object. For example, the ring portion may be formed by cutting a portion of the socket body. Alternatively, the ring portion may be formed by cutting a portion of an outer peripheral surface of a portion in which the bolt coupling groove is formed in the socket body.

According to one side, a plurality of moving parts for moving the main body and a fixing part for fixing a position when the main body is installed may be further provided. Here, the fixing part is provided to be retractable and retractable with respect to the main body, so that when the main body is moved, it is accommodated in the main body, and when the main body is installed in the working position, the main body is pulled out to fix the position of the main body to the ground. Can be.

According to the embodiment, since a filter replacement device is input in the radioactive structure to replace the filter, and the operator operates the filter replacement device at a remote location of the radioactive structure, exposure of the worker to radiation can be minimized.

The effects of the filter replacement apparatus according to the embodiment are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a perspective view of a filter replacement device according to an embodiment.
FIG. 2 is a perspective view illustrating five degrees of freedom of the articulated manipulator in the filter replacement device of FIG. 1.
FIG. 3 is an exploded perspective view of a main part showing an exploded state of a tool mounting part, a tool, and a socket in the filter replacement device of FIG.
4 is a perspective view illustrating a tool according to a modified embodiment.
5A and 5B are perspective views illustrating a socket.
6A and 6B are views for explaining the operation of the filter replacement apparatus according to an exemplary embodiment.
7A and 7B are views for explaining an operation of recognizing a bolt by the filter replacement apparatus according to an exemplary embodiment.
8A and 8B are views for explaining operations of a moving part and a fixing part in the filter replacement apparatus according to an exemplary embodiment.
9A and 9B are diagrams for explaining an example in which a sling according to an embodiment is coupled.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings. However, since various changes may be made to the embodiments, the scope of the rights of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents, or substitutes to the embodiments are included in the scope of the rights.

The terms used in the examples are used for illustrative purposes only and should not be interpreted as limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

In addition, in the description with reference to the accompanying drawings, the same reference numerals are assigned to the same components regardless of the reference numerals, and redundant descriptions thereof will be omitted. In describing the embodiments, when it is determined that a detailed description of related known technologies may unnecessarily obscure the subject matter of the embodiments, the detailed description thereof will be omitted.

In addition, in describing the constituent elements of the embodiment, terms such as first, second, A, B, (a), (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected or connected to that other component, but another component between each component It should be understood that may be “connected”, “coupled” or “connected”.

Components included in one embodiment and components including common functions will be described using the same name in other embodiments. Unless otherwise stated, the description of one embodiment may be applied to other embodiments, and a detailed description will be omitted in the overlapping range.

A filter replacement device 100 for facility maintenance and filter replacement will be described with reference to FIGS. 1 to 9B.

The filter replacement device 100 is a device for replacing a filter in a radioactive structure including a nuclear power plant (hereinafter referred to as'object' 10 (refer to FIGS. 6A and 6B)) and maintenance of a facility. The filter replacement device 100 is inserted into the object 10 instead of the operator and performs maintenance work such as separating, replacing, and installing the filter 11 (see FIG. 6B) from the object 10. In this case, the operator Is remotely controlled from the object 10 at a remote location.

Here, the filter 11 includes a reactor coolant filter, a sealed injection water filter, a sealed water bypass filter, a boric acid filter, a spent fuel storage tank purification filter, a boric acid purification filter, and the like.

Referring to the drawings, the filter replacement device 100 includes a main body 110, an articulated manipulator 120 having 5 degrees of freedom, a filter 11 from an object 10, and a filter 11 from the object 10. It is configured to include a tool 130 and a socket 140 for performing a whole task for replacement. In addition, the filter replacement device 100 is connected to a power supply unit 170 for supplying power for driving, and a control unit 160 for controlling the operation is provided.

The body 110 is formed to support the manipulator 120 and to be movable.

8A and 8B, the main body 110 has a plurality of moving parts 111 for moving the filter replacement device 100, and a fixing part for fixing the position of the filter replacement device 100 ( 112) is installed.

The moving unit 111 is a wheel provided with a plurality of the lower body 110, and allows the filter replacement device 100 to be movable by an operator or a separate device (eg, a crane, a crane).

The fixing part 112 fixes the position of the body 110 when the filter replacement device 100 is stopped, but when the filter replacement device 100 is moved, the fixing part 112 moves up and down with respect to the body 110 so as not to interfere with the movement. It is provided so as to be stretchable, elevating, or retractable or retractable. For example, as shown in FIG. 8B, the fixing part 112 may have a rod shape of a predetermined length, and may descend downward with respect to the main body 110 and be fixed to the ground, or rise upward to be spaced apart from the ground. have. A screw thread may be formed on the outer circumferential surface of the fixing part 112 for elevating or drawing/receiving the fixing part 112. In addition, a pad 112a may be provided at an end of the fixing part 112 in contact with the ground so that the filter replacement device 100 is stably fixed to the ground and prevents vibration.

However, this is only an example, and the shape of the fixing part 112 and the configuration for the withdrawal/receiving operation are not limited by the drawings and may be substantially variously changed.

In addition, in the drawing, it is illustrated that four moving parts 111 and fixing parts 112 are provided along the circumference of the main body 110, but the number of moving parts 111 and fixing parts 112 is It can be changed substantially in various ways depending on the shape and size.

The main body 110 is provided with a counter weight 113 on one side to prevent loss of balance due to the force applied to the manipulator 120 while the manipulator 120 performs a task of replacing the filter 11 Can be. In addition, a driving unit (not shown) for driving the manipulator 120 is provided.

Here, the filter replacement device 100 may further include a sling 180 to prevent the filter replacement device 100 from overturning due to a sudden shift of the center of gravity during operation of the manipulator 120. For example, as shown in FIG. 9A, the sling 180 may be coupled along the rim of the main body 110 to support the main body 110 from the top. Alternatively, as shown in FIG. 7B9, the sling 180 may be coupled to the rear of the main body 110 (ie, the opposite side to the direction in which the manipulator 120 is provided) to support the main body 110 from the rear.

According to the present embodiments, by providing the sling 180, it is possible to prevent accidents such as damage, dropping, and overturning while the filter replacement device 100 is moving.

The manipulator 120 includes a plurality of arm members 121, 123, 125, and a plurality of movable parts 210, 122, 124, 126, and 128 that rotate and connect between the arm members 121, 123, and 125. ). Hereinafter, the first to third arm members 121, 123 and 125 and the first to fifth movable parts 210, 122, 124, 126, and 128 are referred to from the end of the manipulator 120.

A tool mounting part 210 to which the tool 130 is detachably mounted is provided at an end of the first arm member 121. Here, the tool mounting portion 210 serves as a first movable portion that rotates the mounted tool 130 and rotates along the F1 direction of FIG. 2.

In addition, the second to fourth movable parts 122, 124, and 126 are rotated along directions F2, F3, and F4, respectively.

The fifth movable part 128 couples the manipulator 120 to the main body 110 and rotates the manipulator 120 in the F5 direction.

By configuring in this way, the manipulator 120 has 5 degrees of freedom in the F1 to F5 directions. In addition, the first to fifth movable parts 210, 122, 124, 126, and 128 are provided with a brake function to maintain the position of each arm member 121, 123, 125 in a rotated state.

The manipulator 120 has a tool coordinate system defined based on the end of the tool mounting part 210, which is its distal end, and each arm member 121, 123, 125 moves in parallel with respect to each axis of the tool coordinate system defined as above. Is done.

The second movable part 122 is provided with a servo motor 240 for precisely driving the tool 130.

A force-torque sensor 230 is provided between the second movable part 122 and the first arm member 121 to detect a force and torque applied to the tool mounting part 210.

A reducer 220 is provided between the tool mounting part 210 and the first arm member 121 to increase the torque of the servo motor 240 and transmit it to the tool 130.

The tool 130 includes a tool body 131 having a predetermined length, a socket coupling part 133 for replacing the filter 11 at one end, and a slave 132 coupled to the tool mounting part 210 at the other end. ) Is formed.

Here, the tool 130 performs an operation of loosening or tightening the bolt 14 of the object 10 by coupling the socket 140 as shown in FIG. 1. Alternatively, as shown in FIG. 4, the tool 310 may have a shape in which a ring 313 is formed so as to be hung in the hole 13a of the lid 12 or the filter 11. 4 is a perspective view of a tool 310 according to a modified embodiment, in which 311 is a tool body 311, 312 is a slave 312, and 313 is a ring 313.

Here, unlike the above-described embodiment, it is also possible to couple the wrench-shaped socket 140 to the tool 310 shown in FIG. 4. For example, by forming a structure in which the socket 140 can be coupled around the ring 313 is formed, the bolt 14 can be loosened or tightened when the socket 140 is coupled, and when the socket 140 is separated Opening/closing the lid 12 with a hook 313, or a filter 11.

The socket 140 is a wrench that is coupled to the end of the tool 130 and loosens or tightens the bolt 14.

The socket 140 has a tool coupling groove 143 inserted into the tool 130 at one end of the socket body 141, and a bolt coupling groove 143 into which the bolt 14 is inserted and coupled at the other end. Is formed.

On the other hand, the sockets (410, 420) are bolted grooves (413, 423) and the lid (12) to open / close, or to lift the filter (11) having a predetermined hook shape having a ring portion (414, 424) integrally Can be formed.

For example, as shown in FIG. 5A, the socket 410 may have a ring portion 414 formed by cutting the middle of the socket body 411. In Figure 5a, 412 is a tool coupling groove 412, and 413 is a bolt coupling groove 413.

Alternatively, as shown in FIG. 5B, a part of the outer peripheral surface of the other end of the socket body 421 on which the bolt coupling groove 423 is formed is cut into a predetermined shape to form a ring portion 424. . In Figure 5b, 422 is a tool coupling groove 422.

However, the shape of the sockets 410 and 420 is not limited by the drawing, and if the bolt coupling grooves 413 and 423 for the wrench role and the ring portions 414 and 424 are integrally formed, they may have substantially various shapes. have.

One side of the manipulator 120 is provided with an imaging unit 150 for photographing the end position of the tool 130 and the object 10.

The controller 160 detects the position of the tool 130 through the image captured by the imaging unit 150, detects the position of the bolt 14 in the object 10, and provides an image to an operator at a remote location to Make it possible to manipulate.

In detail, first, as shown in FIG. 7A, the imaging unit 150 acquires an image of the object 10 and acquires an image obtained by extracting only the outline from the acquired image.

Next, as shown in FIG. 7B, the controller 160 detects the outer image of the bolt 14 from the image extracted only the outer line and obtains 3D coordinate information of the bolt 14. Here, the controller 160 may perform calibration for correcting the 3D coordinates obtained as necessary.

Next, the control unit 160 uses the location information of the bolt 14 so that the tool 130 and the socket 140 loosen or tighten the bolt 14, and open the lid 12 of the object 10. , Replace the filter (11).

Hereinafter, the operation of the filter replacement device 100 will be described.

First, the filter replacement device 100 is positioned on the object 10, and the fixing part 112 supports the filter replacement device 100 with respect to the ground.

Next, the manipulator 120 is driven so that the tool 130 and the socket 140 are positioned above the object 10.

Next, when the image pickup unit 150 acquires an image of the object 10 by the image pickup unit 150, the controller 160 calculates 3D coordinates for the bolt 14 of the object 10.

Next, by manipulating the tool 130, the socket 140 unscrews the bolt 14, and is flipped along the slot 12a of the lid 12.

When all of the bolts 14 are flipped, the tool 130 moves to the top of the lid 12 and is hooked to the hole 13a of the holder 13 formed in the lid 12 to open the lid 12.

Next, the tool 130 is moved to the top of the filter 11 and is hooked on the ring 11a of the filter 11 to lift the filter 11 and remove it from the object 10.

Next, by hanging the new filter 11 on the tool 130, inserting it into the object 10, closing the lid 12, and performing the above-described process in the reverse order, tighten the bolt 14 and perform the operation. To finish.

According to the present embodiments, since the filter replacement device 100 performs a filter replacement work, it prevents the worker from being excessively exposed to radiation during the filter replacement work, and prevents the occurrence of safety accidents such as the risk of falling during the work of the worker. can do. In addition, since the filter replacement device 100 can apply bolts of various sizes, it is possible to fasten and disassemble bolts of various sizes, and provide a fastening torque of an appropriate size for fastening various bolts 14 It can increase the reliability of fastening work In addition, the filter replacement apparatus 100 may prevent interference with structures of the object 10. In addition, since the operation is performed while viewing the image or image acquired through the imaging unit 150, damage to the filter and the filter housing can be prevented during the filter replacement operation.

As described above, although the embodiments have been described by the limited drawings, a person of ordinary skill in the art can apply various technical modifications and variations based on the above. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments and claims and equivalents fall within the scope of the following claims.

10: object
11: filter
11a: loop of filter
12: lid
12a: slot
13: holder
13a: hall
14: bolt
15: bolt support
100: filter replacement device
110: main body
111: moving part
112: fixing part
113: drive control unit
120: multi-joint manipulator
121, 123, 125: no cancer
122, 124, 126, 128: moving part
127: support
210: tool mounting portion
220: reducer
230: FT sensor
240: servo motor
130, 310: tools
131: tool body
132: slave
133: socket coupling portion
140, 410, 420: socket
411, 421: socket body
412, 422: tool coupling groove
413, 423: bolt coupling groove
414, 424: ring part
150: imaging unit
160: control unit
170: power supply
180: sling

Claims (12)

In the filter replacement device for replacing the filter in the object including the radioactive structure,
main body;
A multi-joint manipulator provided on one side of the main body and having 5 degrees of freedom;
A tool that is detachably provided at an end of the manipulator to perform an integral operation for replacing a filter in an object; And
A socket detachably provided on the tool;
Including,
The socket,
A socket body having a tool coupling groove in which the tool is inserted and coupled to one end and a bolt coupling groove in which the bolt is inserted and coupled to the other end; And
A ring portion integrally formed at the other end of the socket body and having a hook shape coupled to a lid or filter provided on the object;
Filter replacement device comprising a.
The method of claim 1,
The manipulator,
A plurality of arm members;
A plurality of movable parts connected to the plurality of arm members and rotatably provided; And
A tool mounting portion provided at an end of the first arm member among the plurality of arm members and to which the tool is coupled;
Including,
The tool mounting portion is a filter replacement device that becomes a first movable portion so that the tool is rotatable with respect to the first arm member.
The method of claim 2,
The manipulator,
An FT sensor provided on the first arm member to sense a force and torque applied to the tool mounting portion;
Filter replacement device further comprising a.
The method of claim 2,
The manipulator,
A servo motor provided on the first arm member for precise driving of the tool;
Filter replacement device further comprising a.
The method of claim 4,
The manipulator,
A speed reducer provided between the first arm member and the tool mounting part and configured to increase torque of the servo motor;
Filter replacement device further comprising a.
The method of claim 2,
The manipulator,
An imaging unit provided on the first arm member and taking an image for detecting the position of the bolt on the object;
Filter replacement device further comprising a.
The method of claim 6,
A control unit controlling an operation of the manipulator at a remote location;
Including more,
The control unit obtains 3D coordinates of the object from the image captured by the image pickup unit, and performs calibration for correcting the obtained 3D coordinates.
delete The method of claim 1,
The filter replacement device is formed by cutting a portion of the socket body in the ring portion.
The method of claim 1,
The filter replacement device is formed by cutting a portion of the outer circumferential surface of the portion in which the bolt coupling groove is formed in the socket body.
The method of claim 1,
A plurality of moving parts for moving the main body; And
A fixing part that fixes a position when the main body is installed;
Filter replacement device is further provided.
The method of claim 11,
The fixing part is provided so as to be able to be pulled out and accommodated with respect to the main body,
When the body is moved, it is accommodated in the body, and when the body is installed in a working position, the filter replacement device is pulled out to fix the position of the body to the ground.

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